Lab 10 Solutions: Robot Shootout
Lead TAs: Nishant, Zack, Sam, Brian, Zachary, Sarah, Rauhit, and Hannah
Due Date: Wednesday, April 30th
Grading Sheet: Click Here
Video: Click here to see a video of what this demo entails.
Lab Purpose
Use sensors and all

PID Controls
(Part II)
Howie Choset
(thanks to George Kantor and Wikipedia)
http:/www.library.cmu.edu/ctms/ctms/examples/motor/motor.htm
Overview
Mass-Spring-Damper System
Second order ODE
Definition
Vary parameters
Forcing functions
Different feedb

Homework 13
16-311 Introduction to Robotics
Prof. Howie Choset
Due at midnight, Friday May 1st
(70%) Group:
Lab 10: Final Contest
(30%) Individual:
1. Show that the cart can achieve full (x, y, ) degrees of freedom using Lie Bracket analysis.
a. State the

Homework 12
16-311 Introduction to Robotics
Prof. Howie Choset
Due at beginning of class on Wednesday, April 22nd
This homework is worth 200 points.
(85%) Group:
Robot Arm Path Planning
(15%) Individual:
1. Derive the inverse kinematics for the following

Localization
Howie Choset
Adapted from slides by Humphrey Hu,
Trevor Decker, and Brad Neuman
Localization
General robotic task
Where am I?
Techniques generalize to
many estimation tasks
System parameter estimation
Noisy signal smoothing
Weather syst

Computer Vision
Howie Choset
http:/www.cs.cmu.edu.edu/~choset
Introduction to Robotics
http:/generalrobotics.org
What is vision?
What is computer vision?
Edge Detection
Edge Detection
Interest points and descriptors (SIFT,.)
Segmentation
Segmentation
Reco

Homework 11
16-311 Introduction to Robotics
Prof. Howie Choset
Due at beginning of class on Wednesday, April 15th
(70%) Group:
Wheel Free
(30%) Individual:
1. Draw the intermediate motions for a wedge that undergoes Trans (Y, y1) Rot (Z, 1) Trans (Y,
y2)

16-311 Course Overview
The following course outline is tentative. Time allotted to some topics may be modified during the semester.
No student may record or tape any classroom activity without the express written consent of Howie Choset. If a student has

Midterm Exam 16-311 Intro to
Robotics
Name:
Team:
You will have 1 hour and 15 minutes to complete this exam
There are 6 questions on 18 pages. Make sure you have all of them.
When making drawings - be precise. Rounded edges should look rounded, sharp
e

Final Exam 16-311 Intro to Robotics
Name:
Team:
You will have 1 hour and 30 minutes to complete this exam
There are 4 questions on 13 pages. Make sure you have all of them.
When making drawings - be precise. Rounded edges should look rounded, sharp
edg

Lab 9 Solutions : Robot Arm Inverse Kinematics and Path
Planning
Lead TAs: Brian Bittner (bbittner@andrew.cmu.edu)
Due Date: Tuesday, April 21st, 2015
Challenge Statement:
Build a 2 link RR robot arm and demonstrate inverse kinematics and path planing.
Pr

Lab 8 Solutions: Wheel Free
Lead TAs: Hannah Lyness (hlyness@andrew.cmu.edu), Shucheng Chao (shuchenc@andrew.cmu
Due Date: Tuesday, April 14th, 2015
Powerpoint
Grading Sheet
Signup Sheet
Challenge statement:
Create a rugged robot that is versatile and cap

16-311 Midterm Review
Humphrey Hu
Overall Statistics
Mean 67.6, std. dev 14.0
P1 - Vision
Thresholding and segmentation
Filtering out noise
Projection equations
Template matching
P1a Thresholding and Segmentation
Threshold < [5,6,7] to get player
Shoul

Challenge:
Usually, as part of the 16-311 course curriculum, we want teams to have some
experience in Urban Search and Rescue. As one of the most well-known universities on
the cutting edge of robotics, we create elaborate simulations for USAR in preparat